qpcpp/examples/msp430/dpp_msp-exp430g2/qv/bsp.cpp

//****************************************************************************
// Product: DPP example on MSP-EXP430G2 board, cooperative QV kernel
// Last updated for version 5.9.5
// Last updated on  2017-07-20
//
//                    Q u a n t u m     L e a P s
//                    ---------------------------
//                    innovating embedded systems
//
// Copyright (C) Quantum Leaps, LLC. All rights reserved.
//
// This program is open source software: you can redistribute it and/or
// modify it under the terms of the GNU General Public License as published
// by the Free Software Foundation, either version 3 of the License, or
// (at your option) any later version.
//
// Alternatively, this program may be distributed and modified under the
// terms of Quantum Leaps commercial licenses, which expressly supersede
// the GNU General Public License and are specifically designed for
// licensees interested in retaining the proprietary status of their code.
//
// This program is distributed in the hope that it will be useful,
// but WITHOUT ANY WARRANTY; without even the implied warranty of
// MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
// GNU General Public License for more details.
//
// You should have received a copy of the GNU General Public License
// along with this program. If not, see <http://www.gnu.org/licenses/>.
//
// Contact information:
// https://state-machine.com
// mailto:info@state-machine.com
//****************************************************************************
#include "qpcpp.h"
#include "dpp.h"
#include "bsp.h"

#include <msp430g2553.h>  // MSP430 variant used
// add other drivers if necessary...

Q_DEFINE_THIS_FILE

// namespace DPP *************************************************************
namespace DPP {

// Local-scope objects -------------------------------------------------------
// 8MHz clock setting, see BSP::init()
#define BSP_MCK     8000000U
#define BSP_SMCLK   8000000U

#define LED1        (1U << 0)
#define LED2        (1U << 6)

// Buttons on the MSP-EXP430G2 board
#define BTN1        (1U << 3)

// random seed
static uint32_t l_rnd;

#ifdef Q_SPY

    #define TXD     (1U << 2)
    #define RXD     (1U << 1)

    QP::QSTimeCtr QS_tickTime_;

    static uint8_t const l_timerA_ISR = 0U;

    enum AppRecords { // application-specific trace records
        PHILO_STAT = QP::QS_USER
    };

#endif

// ISRs used in this project =================================================
extern "C" {

//............................................................................
#if defined(__TI_COMPILER_VERSION__) || defined(__IAR_SYSTEMS_ICC__)
    __interrupt void TIMER0_A0_ISR(void); // prototype
    #pragma vector=TIMER0_A0_VECTOR
    __interrupt void TIMER0_A0_ISR(void)
#elif defined(__GNUC__)
    void __attribute__ ((interrupt(TIMER0_A0_VECTOR))) TIMER0_A0_ISR (void)
#else
    #error Compiler not supported!
#endif
{
#ifdef NDEBUG
    __low_power_mode_off_on_exit(); // see NOTE1
#endif

    TACTL &= ~TAIFG;   // clear the interrupt pending flag
    QP::QF::TICK_X(0U, &l_timerA_ISR); // process time events for rate 0

    // Perform the debouncing of buttons. The algorithm for debouncing
    // adapted from the book "Embedded Systems Dictionary" by Jack Ganssle
    // and Michael Barr, page 71.
    //
    static struct ButtonsDebouncing {
        uint8_t depressed;
        uint8_t previous;
    } buttons = { (uint8_t)~0U, (uint8_t)~0U }; // state of button debouncing
    uint8_t current;
    uint8_t tmp;

    current = ~P1IN; // read P1 port with the state of BTN1
    tmp = buttons.depressed; // save the debounced depressed buttons
    buttons.depressed |= (buttons.previous & current); // set depressed
    buttons.depressed &= (buttons.previous | current); // clear released
    buttons.previous   = current; // update the history
    tmp ^= buttons.depressed;     // changed debounced depressed
    if ((tmp & BTN1) != 0U) {     // debounced BTN1 state changed?
        if ((buttons.depressed & BTN1) != 0U) { // is BTN1 depressed?
            static QP::QEvt const pauseEvt = { PAUSE_SIG, 0U, 0U};
            QP::QF::PUBLISH(&pauseEvt, &l_timerA_ISR);
        }
        else {                    // the button is released
            static QP::QEvt const serveEvt = { SERVE_SIG, 0U, 0U};
            QP::QF::PUBLISH(&serveEvt, &l_timerA_ISR);
        }
    }
}

} // extern "C"

// BSP functions =============================================================
void BSP::init(void) {
    WDTCTL = WDTPW | WDTHOLD; // stop watchdog timer

    // configure the Basic Clock Module
    DCOCTL = 0;             // Select lowest DCOx and MODx settings
    BCSCTL1 = CALBC1_8MHZ;  // Set DCO
    DCOCTL = CALDCO_8MHZ;

    // configure pins for LEDs
    P1DIR |= (LED1 | LED2); // set LED1 and LED2 pins to output

    // configure pin for Button
    P1DIR &= ~BTN1;   // set BTN1 pin as input
    P1OUT |= BTN1;    // drive output to hi
    P1REN |= BTN1;    // enable internal pull up register

    if (QS_INIT((void *)0) == 0) { // initialize the QS software tracing
        Q_ERROR();
    }
    QS_OBJ_DICTIONARY(&l_timerA_ISR);
    QS_USR_DICTIONARY(PHILO_STAT);
}
//............................................................................
void BSP::displayPhilStat(uint8_t n, char const *stat) {
    if (stat[0] == 'h') { // is Philo hungry?
        P1OUT |=  LED1;  // turn LED1 on
    }
    else {
        P1OUT &= ~LED1;  // turn LED1 off
    }

    QS_BEGIN(PHILO_STAT, AO_Philo[n]) // application-specific record begin
        QS_U8(1, n);                  // Philosopher number
        QS_STR(stat);                 // Philosopher status
    QS_END()
}
void BSP::displayPaused(uint8_t paused) {
    // not enouhg LEDs to implement this feature
    if (paused != 0U) {
        //P1OUT |=  LED1;
    }
    else {
        //P1OUT &= ~LED1;
    }
}
//............................................................................
uint32_t BSP::random(void) { // a very cheap pseudo-random-number generator
    // "Super-Duper" Linear Congruential Generator (LCG)
    // LCG(2^32, 3*7*11*13*23, 0, seed)
    //
    l_rnd = l_rnd * ((uint32_t)3U*7U*11U*13U*23U);

    return l_rnd >> 8;
}
//............................................................................
void BSP::randomSeed(uint32_t seed) {
    l_rnd = seed;
}
//............................................................................
void BSP::terminate(int16_t result) {
    (void)result;
}

} // namespace DPP

//............................................................................
extern "C" void Q_onAssert(char const *module, int loc) {
    // implement the error-handling policy for your application!!!
    QF_INT_DISABLE(); // disable all interrupts
    QS_ASSERTION(module, loc, static_cast<uint32_t>(10000U));

    // cause the reset of the CPU...
    WDTCTL = WDTPW | WDTHOLD;
    __asm("    push &0xFFFE");
    // return from function does the reset
}

// namespace QP **************************************************************
namespace QP {

// QF callbacks ==============================================================
void QF::onStartup(void) {
    TACTL  = (ID_3 | TASSEL_2 | MC_1);  // SMCLK, /8 divider, upmode
    TACCR0 = (((BSP_SMCLK / 8U) + DPP::BSP::TICKS_PER_SEC/2U)
              / DPP::BSP::TICKS_PER_SEC);
    CCTL0 = CCIE;  // CCR0 interrupt enabled
}
//............................................................................
void QF::onCleanup(void) {
}
//............................................................................
void QV::onIdle(void) {  // NOTE: called with interrutps DISABLED, see NOTE1
    // toggle LED2 on and then off, see NOTE2
    P1OUT |=  LED2;   // turn LED2 on
    P1OUT &= ~LED2;   // turn LED2 off

#ifdef Q_SPY
    QF_INT_ENABLE();
    if (((IFG2 & UCA0TXIFG)) != 0U) { // UART not transmitting?
        uint16_t b;

        QF_INT_DISABLE();
        b = QS::getByte();
        QF_INT_ENABLE();

        if (b != QS_EOD) {
            UCA0TXBUF = (uint8_t)b; // stick the byte to the TX BUF
        }
    }
#elif defined NDEBUG
    // Put the CPU and peripherals to the low-power mode.
    // you might need to customize the clock management for your application,
    // see the datasheet for your particular MSP430 MCU.
    //
    __low_power_mode_1(); // Enter LPM1; also ENABLES interrupts
#else
    QF_INT_ENABLE(); // just enable interrupts
#endif
}

// QS callbacks ==============================================================
#ifdef Q_SPY

bool QS::onStartup(void const *arg) {
    static uint8_t qsBuf[80]; // buffer for QS; RAM is tight!
    uint16_t tmp;

    initBuf(qsBuf, sizeof(qsBuf));

    // configure the UART pins...
    P1DIR  |=  (RXD | TXD);   // config RX and TX pins as outputs
    P1OUT  &= ~(RXD | TXD);   // drive RX and TX pins hi
    P1SEL  |=  (RXD | TXD);   // select the UART function...
    P1SEL2 |=  (RXD | TXD);   // ... for RXD and TXD

    // configure the hardware UART...
    UCA0CTL1 |= UCSSEL_2;      // select SMCLK for the UART

    tmp = BSP_SMCLK / 9600U;   // baud-rate value for 9600 bauds
    UCA0BR0 = (uint8_t)tmp;    // load the baud-rate register low
    UCA0BR1 = (uint8_t)(tmp >> 8); // load the baud-rate register hi

    UCA0MCTL = UCBRS0;         // modulation UCBRSx = 1
    UCA0CTL1 &= ~UCSWRST;      // initialize USCI state machine

    // setup the QS filters...
    QS_FILTER_ON(QS_QEP_STATE_ENTRY);
    QS_FILTER_ON(QS_QEP_STATE_EXIT);
    QS_FILTER_ON(QS_QEP_STATE_INIT);
    QS_FILTER_ON(QS_QEP_INIT_TRAN);
    QS_FILTER_ON(QS_QEP_INTERN_TRAN);
    QS_FILTER_ON(QS_QEP_TRAN);
    QS_FILTER_ON(QS_QEP_IGNORED);
    QS_FILTER_ON(QS_QEP_DISPATCH);
    QS_FILTER_ON(QS_QEP_UNHANDLED);

    QS_FILTER_ON(DPP::PHILO_STAT);

    return true; // return success
}
//............................................................................
void QS::onCleanup(void) {
}
//............................................................................
QSTimeCtr QS::onGetTime(void) {  // invoked with interrupts DISABLED
    if ((TACTL & TAIFG) == 0U) { // interrupt not pending?
        return DPP::QS_tickTime_ + TAR;
    }
    else { // the rollover occured, but the timerA_ISR did not run yet
        return DPP::QS_tickTime_
            + (((BSP_SMCLK/8U) + DPP::BSP::TICKS_PER_SEC/2U)
               /DPP::BSP::TICKS_PER_SEC) + 1U + TAR;
    }
}
//............................................................................
void QS::onFlush(void) {
    uint16_t b;
    QF_INT_DISABLE();
    while ((b = getByte()) != QS_EOD) { // next QS byte available?
        QF_INT_ENABLE();
        while ((IFG2 & UCA0TXIFG) == 0U) { // TX not ready?
        }
        UCA0TXBUF = (uint8_t)b; // stick the byte to the TX BUF
        QF_INT_DISABLE();
    }
    QF_INT_ENABLE();
}
//............................................................................
//! callback function to reset the target (to be implemented in the BSP)
void QS::onReset(void) {
    //TBD
}
//............................................................................
//! callback function to execute a uesr command (to be implemented in BSP)
void QS::onCommand(uint8_t cmdId, uint32_t param1,
                   uint32_t param2, uint32_t param3)
{
    (void)cmdId;
    (void)param1;
    (void)param2;
    (void)param3;
    //TBD
}

#endif // Q_SPY

} // namespace QP

//****************************************************************************
// NOTE1:
// With the cooperative QV kernel for MSP430, it is necessary to explicitly
// turn the low-power mode OFF in the interrupt, because the return
// from the interrupt will restore the CPU status register, which will
// re-enter the low-power mode. This, in turn, will prevent the QV event-loop
// from running.
//
// NOTE2:
// NOTE1:
// One of the LEDs is used to visualize the idle loop activity. The brightness
// of the LED is proportional to the frequency of invcations of the idle loop.
// Please note that the LED is toggled with interrupts locked, so no interrupt
// execution time contributes to the brightness of the User LED.
//